Reduce the computation time needed for bilateral upsampling #689
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Hi @aikkala this sounds like a great start and welcome to PCL and Github. Try git rebase -i to clean up your branch (you need to do a git push -f to get it onto Github afterwards). |
| @@ -106,13 +109,14 @@ pcl::BilateralUpsampling<PointInT, PointOutT>::performProcessing (PointCloudOut | |||
| float dx = float (x - x_w), | |||
| dy = float (y - y_w); | |||
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| float val_exp_depth = expf (- (dx*dx + dy*dy) / (2.0f * static_cast<float> (sigma_depth_ * sigma_depth_))); | |||
| float val_exp_depth = val_exp_depth_matrix(dx+window_size_, dy+window_size_); | |||
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The indention seems to be wrong here.
Compute the distance values (exponential functions) in advance to reduce computation time.
jspricke
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May 22, 2014
Reduce the computation time needed for bilateral upsampling
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I took a couple of exponential functions out from the innermost loops in order to reduce the computation time. The values for those exponential functions are now saved in a matrix (val_exp_depth_matrix) and a vector (val_exp_rgb_vector), and they are referenced inside the loops. The bilateral upsampling seems to work a lot faster now.
I'm new to github, so I apologize if there are some peculiarities in the commits. I read from the guidelines that there shouldn't be any merge commits, but I don't know how to get rid of them. Also tried to squash the commits into one, but again failed to do so.